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<div class="title">orr_octree.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> * orr_octree.h</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment"> *  Created on: Oct 23, 2012</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment"> *      Author: papazov</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_ORR_OCTREE_H_</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_ORR_OCTREE_H_</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &quot;auxiliary.h&quot;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;cstdlib&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;ctime&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">//#define PCL_REC_ORR_OCTREE_VERBOSE</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html">   71</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html">ORROctree</a></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">   78</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">   81</a></span>&#160;            <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">Data</a></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;              <span class="keyword">public</span>:</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">Data</a> (<span class="keywordtype">int</span> id_x, <span class="keywordtype">int</span> id_y, <span class="keywordtype">int</span> id_z, <span class="keywordtype">int</span> lin_id, <span class="keywordtype">void</span>* user_data = NULL)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                : id_x_ (id_x),</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                  id_y_ (id_y),</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                  id_z_ (id_z),</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                  lin_id_ (lin_id),</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                  num_points_ (0),</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                  user_data_ (user_data)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                  n_[0] = n_[1] = n_[2] = p_[0] = p_[1] = p_[2] = 0.0f;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                <span class="keyword">virtual</span>~<a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html"> Data</a> (){}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                addToPoint (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                  p_[0] += x; p_[1] += y; p_[2] += z;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                  ++num_points_;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                computeAveragePoint ()</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                  <span class="keywordflow">if</span> ( num_points_ &lt; 2 )</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                  aux::mult3 (p_, 1.0f/<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_points_));</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                  num_points_ = 1;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                addToNormal (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z) { n_[0] += x; n_[1] += y; n_[2] += z;}</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                getPoint ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> p_;}</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                getPoint (){ <span class="keywordflow">return</span> p_;}</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                getNormal ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> n_;}</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                getNormal (){ <span class="keywordflow">return</span> n_;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                get3dId (<span class="keywordtype">int</span> <span class="keywordtype">id</span>[3])<span class="keyword"> const</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keyword">                </span>{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                  <span class="keywordtype">id</span>[0] = id_x_;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                  <span class="keywordtype">id</span>[1] = id_y_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                  <span class="keywordtype">id</span>[2] = id_z_;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                get3dIdX ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> id_x_;}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                get3dIdY ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> id_y_;}</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                get3dIdZ ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> id_z_;}</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                getLinearId ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> lin_id_;}</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                setUserData (<span class="keywordtype">void</span>* user_data){ user_data_ = user_data;}</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">void</span>*</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                getUserData ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> user_data_;}</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                insertNeighbor (<a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a>* node){ neighbors_.insert (node);}</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                <span class="keyword">inline</span> <span class="keyword">const</span> std::set&lt;Node*&gt;&amp;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                getNeighbors ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (neighbors_);}</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;              <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                <span class="keywordtype">float</span> n_[3], p_[3];</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                <span class="keywordtype">int</span> id_x_, id_y_, id_z_, lin_id_, num_points_;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                std::set&lt;Node*&gt; neighbors_;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                <span class="keywordtype">void</span> *user_data_;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            };</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a> ()</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            : data_ (NULL),</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;              parent_ (NULL),</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;              children_(NULL)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            {}</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            <span class="keyword">virtual</span>~<a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html"> Node</a> ()</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;              this-&gt;deleteChildren ();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;              this-&gt;deleteData ();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            setCenter(<span class="keyword">const</span> <span class="keywordtype">float</span> *c) { center_[0] = c[0]; center_[1] = c[1]; center_[2] = c[2];}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            setBounds(<span class="keyword">const</span> <span class="keywordtype">float</span> *b) { bounds_[0] = b[0]; bounds_[1] = b[1]; bounds_[2] = b[2]; bounds_[3] = b[3]; bounds_[4] = b[4]; bounds_[5] = b[5];}</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            setParent(Node* parent) { parent_ = parent;}</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            setData(Node::Data* data) { data_ = data;}</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#ad220fe60a0d9faa33a6352d46a535fdc">  194</a></span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#ad220fe60a0d9faa33a6352d46a535fdc">computeRadius</a>()</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;            {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;              <span class="keywordtype">float</span> v[3] = {0.5f*(bounds_[1]-bounds_[0]), 0.5f*(bounds_[3]-bounds_[2]), 0.5f*(bounds_[5]-bounds_[4])};</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;              radius_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (aux::length3 (v));</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            getCenter()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> center_;}</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            getBounds()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> bounds_;}</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            getBounds(<span class="keywordtype">float</span> b[6])<span class="keyword"> const</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;              memcpy (b, bounds_, 6*<span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            <span class="keyword">inline</span> Node*</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            getChild (<span class="keywordtype">int</span> <span class="keywordtype">id</span>) { <span class="keywordflow">return</span> &amp;children_[id];}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            <span class="keyword">inline</span> Node*</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            getChildren () { <span class="keywordflow">return</span> children_;}</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            <span class="keyword">inline</span> Node::Data*</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;            getData (){ <span class="keywordflow">return</span> data_;}</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> Node::Data*</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            getData ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> data_;}</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            setUserData (<span class="keywordtype">void</span>* user_data){ data_-&gt;setUserData (user_data);}</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;            <span class="keyword">inline</span> Node*</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            getParent (){ <span class="keywordflow">return</span> parent_;}</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;            hasData (){ <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span> (data_);}</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            hasChildren (){ <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span> (children_);}</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#a9888c21657686d1818e5f464f67529fe">  238</a></span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#a9888c21657686d1818e5f464f67529fe">getRadius</a> (){ <span class="keywordflow">return</span> radius_;}</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;            createChildren ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            deleteChildren ()</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;            {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;              <span class="keywordflow">if</span> ( children_ )</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;              {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                <span class="keyword">delete</span>[] children_;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;                children_ = NULL;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;              }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            deleteData ()</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;            {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;              <span class="keywordflow">if</span> ( data_ )</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;              {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                <span class="keyword">delete</span> data_;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                data_ = NULL;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;              }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#af45ff21e9d4a58c573f76dd969e27ada">  266</a></span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#af45ff21e9d4a58c573f76dd969e27ada">makeNeighbors</a> (<a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a>* node)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;            {</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;              <span class="keywordflow">if</span> ( !this-&gt;getData () || !node-&gt;getData () )</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;              this-&gt;getData ()-&gt;insertNeighbor (node);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;              node-&gt;getData ()-&gt;insertNeighbor (<span class="keyword">this</span>);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;            }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;          <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">Node::Data</a> *data_;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;            <span class="keywordtype">float</span> center_[3], bounds_[6], radius_;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a> *parent_, *children_;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        };</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html">ORROctree</a> ();</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html">ORROctree</a> (){ this-&gt;clear ();}</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        clear ();</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a21fe7e0f3ed8ef7eb723e06775f6eb55">  292</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a21fe7e0f3ed8ef7eb723e06775f6eb55">build</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; points, <span class="keywordtype">float</span> voxel_size, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>* normals = NULL, <span class="keywordtype">float</span> enlarge_bounds = 0.00001f);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a6400cdd8040a10b2fbe4ef04a2434ca9">  297</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a6400cdd8040a10b2fbe4ef04a2434ca9">build</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>* bounds, <span class="keywordtype">float</span> voxel_size);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a>*</div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a84d3bfb8bb1d80cb6855b089a29a23a4">  304</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a84d3bfb8bb1d80cb6855b089a29a23a4">createLeaf</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          <span class="comment">// Make sure that the input point is within the octree bounds</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          <span class="keywordflow">if</span> ( x &lt; bounds_[0] || x &gt; bounds_[1] ||</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;               y &lt; bounds_[2] || y &gt; bounds_[3] ||</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;               z &lt; bounds_[4] || z &gt; bounds_[5] )</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;            <span class="keywordflow">return</span> (NULL);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          }</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a>* node = root_;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> *c;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          <span class="keywordtype">int</span> id;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          <span class="comment">// Go down to the right leaf</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;          <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> l = 0 ; l &lt; tree_levels_ ; ++l )</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;            node-&gt;createChildren ();</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;            c = node-&gt;getCenter ();</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;            <span class="keywordtype">id</span> = 0;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            <span class="keywordflow">if</span> ( x &gt;= c[0] ) <span class="keywordtype">id</span> |= 4;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;            <span class="keywordflow">if</span> ( y &gt;= c[1] ) <span class="keywordtype">id</span> |= 2;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;            <span class="keywordflow">if</span> ( z &gt;= c[2] ) <span class="keywordtype">id</span> |= 1;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;            node = node-&gt;getChild (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;          <span class="keywordflow">if</span> ( !node-&gt;getData () )</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;          {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">Node::Data</a>* data = <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">Node::Data</a> (</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((node-&gt;getCenter ()[0] - bounds_[0])/voxel_size_),</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((node-&gt;getCenter ()[1] - bounds_[2])/voxel_size_),</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((node-&gt;getCenter ()[2] - bounds_[4])/voxel_size_),</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (full_leaves_.size ()));</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;            node-&gt;setData (data);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;            this-&gt;insertNeighbors (node);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;            full_leaves_.push_back (node);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;          }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;          <span class="keywordflow">return</span> (node);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00355"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a8fe1aefef51a4375d5d635312ecd67dc">  355</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a8fe1aefef51a4375d5d635312ecd67dc">getFullLeavesIntersectedBySphere</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>* p, <span class="keywordtype">float</span> radius, std::list&lt;ORROctree::Node*&gt;&amp; out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a>*</div>
<div class="line"><a name="l00360"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#acf19048a461fb6a54b3b74d1d81eb65d">  360</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#acf19048a461fb6a54b3b74d1d81eb65d">getRandomFullLeafOnSphere</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>* p, <span class="keywordtype">float</span> radius) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a>*</div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a9cdbc161b012778299a0c3ec73946e6e">  365</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a9cdbc161b012778299a0c3ec73946e6e">getLeaf</a> (<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j, <span class="keywordtype">int</span> k)</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;          <span class="keywordtype">float</span> offset = 0.5f*voxel_size_;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;          <span class="keywordtype">float</span> p[3] = {bounds_[0] + offset + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i)*voxel_size_,</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;                        bounds_[2] + offset + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (j)*voxel_size_,</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;                        bounds_[4] + offset + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (k)*voxel_size_};</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;          <span class="keywordflow">return</span> (this-&gt;getLeaf (p[0], p[1], p[2]));</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        }</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a>*</div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a226ab3bc336ddf40b65acef96958a3f9">  377</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a226ab3bc336ddf40b65acef96958a3f9">getLeaf</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z)</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        {</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          <span class="comment">// Make sure that the input point is within the octree bounds</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          <span class="keywordflow">if</span> ( x &lt; bounds_[0] || x &gt; bounds_[1] ||</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;               y &lt; bounds_[2] || y &gt; bounds_[3] ||</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;               z &lt; bounds_[4] || z &gt; bounds_[5] )</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;          {</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;            <span class="keywordflow">return</span> (NULL);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;          }</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;          <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a>* node = root_;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> *c;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;          <span class="keywordtype">int</span> id;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;          <span class="comment">// Go down to the right leaf</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;          <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> l = 0 ; l &lt; tree_levels_ ; ++l )</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;          {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;            <span class="keywordflow">if</span> ( !node-&gt;hasChildren () )</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;              <span class="keywordflow">return</span> (NULL);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;            c = node-&gt;getCenter ();</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;            <span class="keywordtype">id</span> = 0;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;            <span class="keywordflow">if</span> ( x &gt;= c[0] ) <span class="keywordtype">id</span> |= 4;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;            <span class="keywordflow">if</span> ( y &gt;= c[1] ) <span class="keywordtype">id</span> |= 2;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;            <span class="keywordflow">if</span> ( z &gt;= c[2] ) <span class="keywordtype">id</span> |= 1;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;            node = node-&gt;getChild (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;          <span class="keywordflow">return</span> (node);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        }</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00412"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a214263da240c970c83203f86ea1246dd">  412</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a214263da240c970c83203f86ea1246dd">deleteBranch</a> (<a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a>* node);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <span class="keyword">inline</span> std::vector&lt;ORROctree::Node*&gt;&amp;</div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#ac91c845365fae9fd9d4e270d5471f750">  416</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#ac91c845365fae9fd9d4e270d5471f750">getFullLeaves</a> () { <span class="keywordflow">return</span> full_leaves_;}</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::vector&lt;ORROctree::Node*&gt;&amp;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        getFullLeaves ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> full_leaves_;}</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        getFullLeavesPoints (PointCloudOut&amp; out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        getNormalsOfFullLeaves (PointCloudN&amp; out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <span class="keyword">inline</span> ORROctree::Node*</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        getRoot (){ <span class="keywordflow">return</span> root_;}</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        getBounds ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;          <span class="keywordflow">return</span> (bounds_);</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        getBounds (<span class="keywordtype">float</span> b[6])<span class="keyword"> const</span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;          memcpy (b, bounds_, 6*<span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;        }</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        getVoxelSize ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> voxel_size_;}</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        insertNeighbors (Node* node)</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        {</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span>* c = node-&gt;getCenter ();</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;          <span class="keywordtype">float</span> s = 0.5f*voxel_size_;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          Node *neigh;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]+s, c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]+s, c[2]  ); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]+s, c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]  , c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]  , c[2]  ); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]  , c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]-s, c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]-s, c[2]  ); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;          neigh = this-&gt;getLeaf (c[0]+s, c[1]-s, c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;          neigh = this-&gt;getLeaf (c[0]  , c[1]+s, c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;          neigh = this-&gt;getLeaf (c[0]  , c[1]+s, c[2]  ); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;          neigh = this-&gt;getLeaf (c[0]  , c[1]+s, c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;          neigh = this-&gt;getLeaf (c[0]  , c[1]  , c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        <span class="comment">//neigh = this-&gt;getLeaf (c[0]  , c[1]  , c[2]  ); if ( neigh ) node-&gt;makeNeighbors (neigh);</span></div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          neigh = this-&gt;getLeaf (c[0]  , c[1]  , c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;          neigh = this-&gt;getLeaf (c[0]  , c[1]-s, c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;          neigh = this-&gt;getLeaf (c[0]  , c[1]-s, c[2]  ); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;          neigh = this-&gt;getLeaf (c[0]  , c[1]-s, c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]+s, c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]+s, c[2]  ); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]+s, c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]  , c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]  , c[2]  ); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]  , c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]-s, c[2]+s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]-s, c[2]  ); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;          neigh = this-&gt;getLeaf (c[0]-s, c[1]-s, c[2]-s); <span class="keywordflow">if</span> ( neigh ) node-&gt;makeNeighbors (neigh);</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        }</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        <span class="keywordtype">float</span> voxel_size_, bounds_[6];</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        <span class="keywordtype">int</span> tree_levels_;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        Node* root_;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        std::vector&lt;Node*&gt; full_leaves_;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    };</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  } <span class="comment">// namespace recognition</span></div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160; </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_RECOGNITION_ORR_OCTREE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node_1_1_data.html">pcl::recognition::ORROctree::Node::Data</a></div><div class="ttdef"><b>Definition:</b> orr_octree.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_1_1_node_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">pcl::recognition::ORROctree::Node</a></div><div class="ttdef"><b>Definition:</b> orr_octree.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_1_1_node_html_a9888c21657686d1818e5f464f67529fe"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#a9888c21657686d1818e5f464f67529fe">pcl::recognition::ORROctree::Node::getRadius</a></div><div class="ttdeci">float getRadius()</div><div class="ttdoc">Computes the &quot;radius&quot; of the node which is half the diagonal length.</div><div class="ttdef"><b>Definition:</b> orr_octree.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_1_1_node_html_ad220fe60a0d9faa33a6352d46a535fdc"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#ad220fe60a0d9faa33a6352d46a535fdc">pcl::recognition::ORROctree::Node::computeRadius</a></div><div class="ttdeci">void computeRadius()</div><div class="ttdoc">Computes the &quot;radius&quot; of the node which is half the diagonal length.</div><div class="ttdef"><b>Definition:</b> orr_octree.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_1_1_node_html_af45ff21e9d4a58c573f76dd969e27ada"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html#af45ff21e9d4a58c573f76dd969e27ada">pcl::recognition::ORROctree::Node::makeNeighbors</a></div><div class="ttdeci">void makeNeighbors(Node *node)</div><div class="ttdoc">Make this and 'node' neighbors by inserting each node in the others node neighbor set....</div><div class="ttdef"><b>Definition:</b> orr_octree.h:266</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html">pcl::recognition::ORROctree</a></div><div class="ttdoc">That's a very specialized and simple octree class. That's the way it is intended to be,...</div><div class="ttdef"><b>Definition:</b> orr_octree.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_a214263da240c970c83203f86ea1246dd"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a214263da240c970c83203f86ea1246dd">pcl::recognition::ORROctree::deleteBranch</a></div><div class="ttdeci">void deleteBranch(Node *node)</div><div class="ttdoc">Deletes the branch 'node' is part of.</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_a21fe7e0f3ed8ef7eb723e06775f6eb55"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a21fe7e0f3ed8ef7eb723e06775f6eb55">pcl::recognition::ORROctree::build</a></div><div class="ttdeci">void build(const PointCloudIn &amp;points, float voxel_size, const PointCloudN *normals=NULL, float enlarge_bounds=0.00001f)</div><div class="ttdoc">Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'....</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_a226ab3bc336ddf40b65acef96958a3f9"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a226ab3bc336ddf40b65acef96958a3f9">pcl::recognition::ORROctree::getLeaf</a></div><div class="ttdeci">ORROctree::Node * getLeaf(float x, float y, float z)</div><div class="ttdoc">Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists.</div><div class="ttdef"><b>Definition:</b> orr_octree.h:377</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_a6400cdd8040a10b2fbe4ef04a2434ca9"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a6400cdd8040a10b2fbe4ef04a2434ca9">pcl::recognition::ORROctree::build</a></div><div class="ttdeci">void build(const float *bounds, float voxel_size)</div><div class="ttdoc">Creates an empty octree with bounds at least as large as the ones provided as input and with leaf siz...</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_a84d3bfb8bb1d80cb6855b089a29a23a4"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a84d3bfb8bb1d80cb6855b089a29a23a4">pcl::recognition::ORROctree::createLeaf</a></div><div class="ttdeci">ORROctree::Node * createLeaf(float x, float y, float z)</div><div class="ttdoc">Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within...</div><div class="ttdef"><b>Definition:</b> orr_octree.h:304</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_a8fe1aefef51a4375d5d635312ecd67dc"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a8fe1aefef51a4375d5d635312ecd67dc">pcl::recognition::ORROctree::getFullLeavesIntersectedBySphere</a></div><div class="ttdeci">void getFullLeavesIntersectedBySphere(const float *p, float radius, std::list&lt; ORROctree::Node * &gt; &amp;out) const</div><div class="ttdoc">This method returns a super set of the full leavess which are intersected by the sphere with radius '...</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_a9cdbc161b012778299a0c3ec73946e6e"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a9cdbc161b012778299a0c3ec73946e6e">pcl::recognition::ORROctree::getLeaf</a></div><div class="ttdeci">ORROctree::Node * getLeaf(int i, int j, int k)</div><div class="ttdoc">Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. The method returns the...</div><div class="ttdef"><b>Definition:</b> orr_octree.h:365</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_ac91c845365fae9fd9d4e270d5471f750"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#ac91c845365fae9fd9d4e270d5471f750">pcl::recognition::ORROctree::getFullLeaves</a></div><div class="ttdeci">std::vector&lt; ORROctree::Node * &gt; &amp; getFullLeaves()</div><div class="ttdoc">Returns a vector with all octree leaves which contain at least one point.</div><div class="ttdef"><b>Definition:</b> orr_octree.h:416</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html_acf19048a461fb6a54b3b74d1d81eb65d"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#acf19048a461fb6a54b3b74d1d81eb65d">pcl::recognition::ORROctree::getRandomFullLeafOnSphere</a></div><div class="ttdeci">ORROctree::Node * getRandomFullLeafOnSphere(const float *p, float radius) const</div><div class="ttdoc">Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radiu...</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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